CN219374860U - Puncture needle angle adjusting device and puncture operation robot - Google Patents
Puncture needle angle adjusting device and puncture operation robot Download PDFInfo
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- CN219374860U CN219374860U CN202320626901.6U CN202320626901U CN219374860U CN 219374860 U CN219374860 U CN 219374860U CN 202320626901 U CN202320626901 U CN 202320626901U CN 219374860 U CN219374860 U CN 219374860U
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- puncture needle
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- puncture
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Abstract
The utility model relates to the technical field of medical instruments, in particular to a puncture needle angle adjusting device and a puncture operation robot. The puncture needle angle adjusting device comprises a base; rotating the platform; an arc-shaped slide rail; slider and pjncture needle. The puncture needle angle adjusting device is characterized in that when the puncture needle angle adjusting device works, a coil in the first coil group is powered on and powered off to drive the rotating platform to rotate, and the coil in the second coil group is powered on and powered off to drive the arc-shaped sliding block to slide, so that the operation of adjusting the puncture needle angle in a large range in space can be realized through the movement of the two degrees of freedom.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a puncture needle angle adjusting device and a puncture operation robot.
Background
When carrying out the puncture operation, use the puncture operation robot to puncture, because puncture operation robot can accurate adjustment and stable maintain the puncture angle, can realize automatic needle operation simultaneously, ensure the accuracy of needle depth, compare in doctor bare-handed puncture, can show the accuracy of improvement percutaneous puncture operation.
At present, the existing puncture needle angle adjusting device for the puncture surgical robot is driven by a motor, and drives a mechanical arm with multiple degrees of freedom connected in series or in parallel to clamp a puncture needle through a transmission part in the middle, and adjusts the puncture angle of the puncture needle, so that subsequent puncture operation is performed. In the process of adjusting the puncture angle of the puncture needle by the puncture needle angle adjusting device, more parts are needed by the mechanical arm, and the whole puncture needle angle adjusting device has the advantages of complex structure, poor precision, large volume and heavy weight.
Disclosure of Invention
The utility model mainly aims to provide a puncture needle angle adjusting device and a puncture operation robot, which aim to solve the problems that in the prior art, the required parts are more, and the whole puncture needle angle adjusting device is complex in structure, large in size and heavy.
To achieve the above object, a first aspect of the present utility model provides a puncture needle angle adjusting device, comprising: the rotating platform can rotate along the axial lead of the rotating platform; the arc-shaped sliding rail is fixedly arranged on the rotary platform, and the axial lead corresponding to the arc-shaped sliding rail is intersected with the axial lead corresponding to the rotary platform; the sliding block is slidably arranged on the arc-shaped sliding rail, the sliding block is suitable for being provided with a puncture needle, and the axial lead of the puncture needle passes through the intersection point of the axial lead of the arc-shaped sliding rail and the axial lead of the rotary platform.
Optionally, the rotary platform is rotatably mounted on the base, one of the base and the rotary platform is provided with a first magnetic pole array, and the other of the base and the rotary platform is provided with a first coil group corresponding to the first magnetic pole array.
Optionally, the first magnetic pole array includes a first magnetic pole slot provided on the rotating platform or the base, and a magnetic pole fixed in the first magnetic pole slot.
Optionally, the base is a disc base, the first magnetic pole arrays are distributed along a circumferential direction of the disc base, and the first coil assembly is disposed on the rotating platform.
Optionally, the radian of the first magnetic pole array is not less than 180 degrees.
Optionally, one of the sliding block and the arc-shaped sliding rail is provided with a second magnetic pole array, and the other one of the sliding block and the arc-shaped sliding rail is provided with a second coil group corresponding to the second magnetic pole array.
Optionally, the second magnetic pole array is distributed along the arc direction of the arc-shaped sliding rail, the second magnetic pole array is coaxial with the arc-shaped sliding rail, and the second coil group is arranged on the sliding block.
Optionally, the radian of the second magnetic pole array is 90-180 degrees.
Optionally, the axis corresponding to the arc-shaped sliding rail is perpendicularly intersected with the axis corresponding to the rotary platform.
Optionally, the intersection point is a puncture needle point on the body surface of the patient.
Optionally, the puncture needle angle adjusting device is suitable for being fixed on the body surface of a patient, so that the circle center of the rotating platform is aligned with the puncture needle inlet point on the body surface of the patient in the axial direction.
Optionally, the device further comprises a bearing arranged between the rotary platform and the base, wherein the rotary platform is mounted on the base through the bearing, and the bearing can rotate around the axial lead of the base.
The second aspect of the utility model provides a puncture robot comprising the puncture needle angle adjusting device.
The technical scheme of the utility model has the following advantages:
1. the puncture needle angle adjusting device provided by the embodiment of the utility model comprises a rotary platform, an arc-shaped slide rail and a slide block, wherein the arc-shaped slide rail is fixed on the rotary platform, the axial lead of the arc-shaped slide rail is intersected with the axial lead of the rotary platform, and the slide block is slidably arranged on the arc-shaped slide rail; the sliding block is suitable for being provided with a puncture needle, and the axial lead of the puncture needle passes through the intersection point of the axial lead of the arc-shaped sliding rail and the axial lead of the rotary platform.
The puncture needle angle adjusting device provided by the embodiment of the utility model comprises fewer parts, the puncture needle can be adjusted in the longitudinal direction by rotating the rotating platform, the puncture needle is driven to slide on the arc-shaped sliding rail by the sliding block, and the puncture needle can be adjusted in the latitudinal direction, so that the puncture needle angle adjusting device can realize the wide-range puncture angle adjustment in space by the movement of the two degrees of freedom.
2. The puncture needle angle adjusting device provided by the embodiment of the utility model further comprises a base, wherein the rotating platform is rotatably arranged on the base, one of the base and the rotating platform is provided with a first magnetic pole array, and the other one of the base and the rotating platform is provided with a first coil group corresponding to the first magnetic pole array.
The longitude angle adjusting structure of the embodiment of the utility model omits a motor driving and complex transmission structure, realizes the integration of driving and transmission, and has simpler and more compact structure.
3. According to the puncture needle angle adjusting device provided by the embodiment of the utility model, one of the sliding block and the arc-shaped sliding rail is provided with the second magnetic pole array, and the other one of the sliding block and the arc-shaped sliding rail is provided with the second coil group corresponding to the second magnetic pole array.
The second magnetic pole array and the second coil group are arranged on the sliding block and the arc-shaped sliding rail, so that the angle adjustment of the puncture needle in the latitude direction is driven in an electromagnetic driving mode.
Further, by combining the advantages of the 2 nd point, the puncture needle angle adjusting device provided by the embodiment of the utility model realizes the electric driving adjustment of driving the puncture needle in two degrees of freedom of longitude and latitude in an electromagnetic driving mode, omits a motor and a complex transmission structure, realizes the integration of driving and transmission, has a simple and compact structure, occupies small operation space and is beneficial to the operation of doctors.
4. The puncture needle angle adjusting device provided by the embodiment of the utility model has the advantage that the intersection point is a puncture needle point on the body surface of a patient. The intersection point of the axial lead of the arc-shaped sliding rail and the axial lead of the rotary platform is overlapped with the puncture needle insertion point on the body surface of the patient, so that the accuracy of needle insertion of the puncture needle adopting the puncture needle angle adjusting device is ensured.
5. According to the puncture needle angle adjusting device provided by the embodiment of the utility model, the radian of the first magnetic pole array is not less than 180 degrees, and meanwhile, when the radian of the second magnetic pole array is close to 180 degrees and two conditions are met, the puncture needle angle adjusting device can realize the omnibearing close to 360-degree large puncture angle adjustment.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a schematic perspective view of a puncture needle angle adjusting device according to an embodiment of the present utility model.
Fig. 2 is a schematic perspective view of a rotating platform and a disc base in the angle adjusting device of the puncture needle shown in fig. 1.
Fig. 3 is a schematic perspective view of the arc slide rail and the arc slide block in the angle adjusting device of the puncture needle shown in fig. 1.
Fig. 4 is a schematic front view of the angle adjusting device for the puncture needle shown in fig. 1.
Fig. 5 is a schematic perspective view of the puncture needle in the puncture needle angle adjusting device shown in fig. 1.
Wherein, the reference numerals in the drawings are as follows:
10. a disc base; 11. a first magnetic pole array;
20. rotating the platform; 21. a first coil group;
30. a bearing;
40. an arc-shaped slide rail; 41. a second magnetic pole array;
50. an arc-shaped sliding block; 51. a second coil group;
60. a needle insertion sleeve; 61. a third coil group;
70. a puncture needle; 71. a puncture needle core; 73. a third magnetic pole array;
80. puncture needle cannula.
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 and 2, the puncture needle angle adjustment device in the present embodiment is used for a puncture operation of a puncture operation robot in a puncture operation. The needle angle adjustment device includes a base, a rotating platform 20, an arcuate slide rail 40, a slider, a needle insertion sleeve 60, and a needle 70.
The base in this embodiment is specifically a disc base 10, which is disc-shaped. The rotary platform 20 is rotatably installed on the base, wherein the disc base 10 is provided with a first magnetic pole array 11, the first magnetic pole array 11 is arranged at the edge of the disc base 10 and surrounds the disc base 10, the rotary platform 20 is provided with a first coil group 21 corresponding to the first magnetic pole array 11, and when the coils in the first coil group 21 are powered on and powered off, the first coil group 21 is matched with a magnetic field generated by the magnetic poles in the first magnetic pole array 11, so that the rotary platform 20 can be driven to rotate relative to the disc base 10.
Referring further to fig. 2, the first magnetic pole array 11 in the present embodiment includes a first magnetic pole groove provided on the disk base 10, and magnetic poles fixed in the first magnetic pole groove. The first magnetic pole grooves are uniformly arranged along the circumferential direction of the disc base 10, and the magnetic poles are fixed in the first magnetic pole grooves to form a magnetic field, so that the rotation of the rotary platform 20 relative to the disc base 10 is realized when the first coil group 21 is electrified.
The puncture needle angle adjusting device in this embodiment further includes a bearing 30 disposed between the rotary platform 20 and the base, the rotary platform 20 is mounted on the base through the bearing 30, and the bearing 30 can rotate around the axis of the base, so as to realize rotation of the rotary platform 20 relative to the disc base 10.
In a modification of this embodiment, the positions of the first coil group 21 and the first magnetic pole array 11 may be reversed, that is, the first coil group 21 is disposed on the disc base 10, and the first magnetic pole array 11 is disposed on the rotary platform 20.
Referring further to fig. 3, the arc-shaped sliding rail 40 in the present embodiment is fixedly installed on the rotating platform 20, and can rotate along with the rotation of the rotating platform 20, and the axis line corresponding to the arc-shaped sliding rail 40 intersects with the axis line corresponding to the rotating platform 20; the sliding block in this embodiment is specifically an arc sliding block 50 corresponding to the arc sliding rail 40, where the arc sliding block 50 is slidably mounted on the arc sliding rail 40 and can slide along the arc direction of the arc sliding rail 40. The puncture needle angle adjusting device in this embodiment is provided with a second magnetic pole array 41 on the arc-shaped slide rail 40, the second magnetic pole array 41 is distributed along the arc direction of the arc-shaped slide rail 40, and a second coil group 51 is provided on the slider. When the coils in the second coil group 51 are powered on and off, the second coil group 51 cooperates with the magnetic field generated by the magnetic poles in the second magnetic pole array 41, so as to drive the arc slider 50 to move along the arc slide rail 40.
In a variation of this embodiment, the second magnetic pole array 41 is disposed on the arcuate slide 50 and the corresponding second coil is disposed on the arcuate slide 40.
With further reference to fig. 3, the corresponding arcs of the arc-shaped slide rail 40 and the arc-shaped slide block 50 in the present embodiment are arc-shaped. The axis corresponding to the arc-shaped sliding rail 40 is vertically intersected with the axis corresponding to the rotary platform 20, so that the puncture angle of the puncture needle angle adjusting device can be further expanded by combining the rotation of the rotary platform 20, and the application range of the puncture needle angle adjusting device is wider.
In the present utility model, the radian of the first magnetic pole array 11 is not less than 180 degrees, the radian of the second magnetic pole array 41 is 90-180 degrees, the radian of the first magnetic pole array 11 affects the rotation angle of the puncture needle in the radial direction, the radian of the second magnetic pole array 41 affects the rotation angle of the puncture needle in the latitudinal direction, when the radian of the first magnetic pole array 11 is not less than 180 degrees, and the arc length is required to be close to 180 degrees for the second magnetic pole array, two conditions are thatIn this case, a large puncture angle adjustment of 360 degrees can be achieved. In particular to the present embodiment, as shown in fig. 1 and 2, the radian of the second magnetic pole array 41 is about 120 degrees, which is limited by the height of the bearing 30 of the rotating platform and the length of the arc-shaped slide rail 40.
Referring further to fig. 4, in this embodiment, the needle insertion sleeve 60 is fixed on the slider and can move along with the sliding of the arc slider 50, and the axis of the needle insertion sleeve 60 intersects with the axis corresponding to the arc slide rail 40; the puncture needle 70 is housed in the needle insertion sleeve 60 and is movable in the axial direction of the needle insertion sleeve 60. The third coil group 61 is disposed on the needle insertion sleeve 60 in this embodiment, and the third magnetic pole array 73 is disposed on the puncture needle 70 correspondingly, and when the coils in the third coil group 61 are turned on or off, the third coil group 61 cooperates with the magnetic field generated by the magnetic poles in the third magnetic pole array 73, so as to drive the puncture needle 70 to move along the axial direction of the needle insertion sleeve 60.
The axial lines of the needle insertion sleeve 60, the arc-shaped sliding rail 40 and the disc base 10 in the embodiment intersect at a point, so that the device can further adjust the puncture angle around the puncture needle insertion point on the body surface of a patient, and further meet the clinical use requirements.
In a modification of this embodiment, the third coil may be provided on the puncture needle 70, or may be provided on the needle insertion sleeve 60 in correspondence with the third magnetic pole array 73.
With further reference to fig. 4, the puncture needle 70 in the present embodiment includes a puncture needle cannula 80 and a puncture needle core 71, the puncture needle core 71 and the puncture needle cannula 80 are fastened by threads, and the puncture needle cannula 80 is sleeved in the needle insertion sleeve 60 and can move along the axial direction of the needle insertion sleeve 60; the puncture needle core 71 is fixedly mounted on the puncture needle sleeve 80, the third magnetic pole array 73 is specifically arranged on the puncture needle core 71, the third coil group 61 is arranged on the needle feeding sleeve 60, and then when the puncture needle core 71 is inserted into the puncture needle sleeve 80, the puncture needle core 71 can drive the puncture needle sleeve 80 to move along the axial direction of the needle feeding sleeve 60 together, so that the puncture operation of the puncture robot is realized. Compared with the prior art, the puncture needle 70 in the embodiment needs a mode that various puncture needle 70 fasteners are fixed at the needle tail or the needle rod in order to firmly clamp the puncture needle 70 to puncture the needle, and the puncture needle core 71 is adopted to drive the puncture needle sleeve 80 to move for puncturing, so that non-contact needle insertion can be realized, and meanwhile, the puncture needle 70 and the needle insertion sleeve are easy to center, further, the needle insertion reliability is ensured, and meanwhile, the use of an intermediate connecting piece is reduced.
By adopting the puncture needle angle adjusting device in the embodiment, when the puncture needle angle adjusting device works, the coil in the first coil group 21 is powered on and off to drive the rotating platform 20 to rotate, the coil in the second coil group 51 is powered on and off to drive the arc-shaped sliding block 50 to slide, and then the large-range puncture angle adjustment in space can be realized through the movement of the two degrees of freedom, the puncture needle 70 is inserted into the needle sleeve 60, and the coil in the third coil group 61 is powered on and off to drive the puncture needle 70 to enter the needle for puncture operation.
By adopting the puncture needle angle adjusting device in the embodiment, after the puncture needle point on the body surface of the patient is determined during clinical use, the puncture needle 70 can be inserted into the needle sleeve 60 by only fixing the disc base 10 on the body surface of the patient to enable the circle center of the disc base 10 to coincide with the puncture needle point on the body surface of the patient, so that the starting device can be provided, and the puncture needle angle adjusting device can adjust the puncture angle around the puncture needle point on the body surface of the patient and complete the needle inserting operation.
When the puncture needle angle adjusting device in the embodiment is used, the puncture needle angle adjusting device is fixedly arranged on the body surface of a patient and can move along with the movement of the patient, so that the safety is ensured, and a certain compensation effect on puncture errors caused by the breathing movement of the patient is achieved.
The embodiment also provides a puncture operation robot, which comprises the puncture needle angle adjusting device, and further has the advantages of the puncture needle angle adjusting device, and the puncture operation robot in the embodiment should also have the advantages and is not described herein.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.
Claims (12)
1. A lancet angle adjustment device, comprising:
a rotary platform (20) rotatable along its axis;
the arc-shaped sliding rail (40) is fixedly arranged on the rotary platform (20), and the axial lead corresponding to the arc-shaped sliding rail (40) is intersected with the axial lead corresponding to the rotary platform (20);
the sliding block is slidably arranged on the arc-shaped sliding rail (40), the sliding block is suitable for being provided with a puncture needle (70), and the axial lead of the puncture needle (70) passes through the intersection point of the axial lead of the arc-shaped sliding rail (40) and the axial lead of the rotary platform (20).
2. The puncture needle angle adjustment device according to claim 1, further comprising a base on which the rotary platform (20) is rotatably mounted, one of the base and the rotary platform (20) being provided with a first magnetic pole array (11), the other of the base and the rotary platform being provided with a first coil group (21) corresponding to the first magnetic pole array (11).
3. The lancet angle adjustment device according to claim 2, characterized in that the first magnetic pole array (11) comprises a first magnetic pole slot provided on the rotating platform (20) or the base, and a magnetic pole fixed in the first magnetic pole slot.
4. The puncture needle angle adjusting device according to claim 2, characterized in that the base is a disc base (10), the first magnetic pole arrays (11) are distributed along the circumferential direction of the disc base (10), and the first coil groups (21) are arranged on the rotating platform (20).
5. The lancet angle adjustment device according to claim 4, characterized in that the arc of the first magnetic pole array (11) is not less than 180 degrees.
6. The puncture needle angle adjusting device according to claim 1, characterized in that one of the slider and the arc-shaped slide rail (40) is provided with a second magnetic pole array (41), and the other is provided with a second coil group (51) corresponding to the second magnetic pole array (41).
7. The puncture needle angle adjusting device according to claim 6, characterized in that the second magnetic pole array (41) is distributed along the arc direction of the arc-shaped slide rail (40), the second magnetic pole array (41) is coaxial with the arc-shaped slide rail (40), and the second coil group (51) is arranged on the slide block.
8. The lancet angle adjustment device of claim 7, wherein the second magnetic pole array (41) has an arc of 90-180 degrees.
9. The lancet angle adjustment device of any one of claims 1 to 8, wherein the intersection point is a puncture needle point on a patient's body surface.
10. The lancet angle adjustment device of claim 9, wherein the lancet angle adjustment device is adapted to be secured to a patient's body surface such that a center of a circle of the rotating platform (20) is axially aligned with the lancet insertion point of the patient's body surface.
11. The lancet angle adjustment device according to any of claims 1 to 8, further comprising a bearing (30) arranged between the rotating platform (20) and a base, the rotating platform (20) being mounted on the base by means of the bearing (30), the bearing (30) being rotatable about an axis of the base.
12. A puncture robot comprising the puncture needle angle adjusting device according to any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320626901.6U CN219374860U (en) | 2023-03-28 | 2023-03-28 | Puncture needle angle adjusting device and puncture operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320626901.6U CN219374860U (en) | 2023-03-28 | 2023-03-28 | Puncture needle angle adjusting device and puncture operation robot |
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| Publication Number | Publication Date |
|---|---|
| CN219374860U true CN219374860U (en) | 2023-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320626901.6U Active CN219374860U (en) | 2023-03-28 | 2023-03-28 | Puncture needle angle adjusting device and puncture operation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116035670A (en) * | 2023-03-28 | 2023-05-02 | 真健康（北京）医疗科技有限公司 | Puncture needle angle adjusting device and puncture operation robot |
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2023
- 2023-03-28 CN CN202320626901.6U patent/CN219374860U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116035670A (en) * | 2023-03-28 | 2023-05-02 | 真健康（北京）医疗科技有限公司 | Puncture needle angle adjusting device and puncture operation robot |
| CN116035670B (en) * | 2023-03-28 | 2023-11-10 | 真健康（北京）医疗科技有限公司 | Puncture needle angle adjusting device and puncture operation robot |
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